Using LMS-100 laser rangefinder for indoor metric map building

Rudan, János; Tuza, Zoltán A.; Szederkényi, Gábor

doi:10.1109/isie.2010.5637842

Cited by 9 publications

(5 citation statements)

References 15 publications

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“…The most studied scanner is the Sick LMS-200, which was first characterized in [4] and then further investigated in [5], [6], [7], [8], and [9]. A new generation of smaller Sick laser (LMS-100 family) was evaluated in [10]. This new scanner was presented as a competition to the smaller scanners proposed by Hokuyo.…”

Section: Related Workmentioning

confidence: 99%

Noise characterization of depth sensors for surface inspections

Pomerleau¹,

Breitenmoser²,

Liu³

et al. 2012

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)

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International audienceIn the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help their selection based on the payload capability of a robot. We then propose uncertainty models based on empirical results for three models of laser rangefinders: Hokuyo URG-04LX, UTM-30LX and the Sick LMS-151. The methodology, used to characterize those sensors, targets more specifically different metallic materials which often give distorted images due to reflexion. We also evaluate the impact of sensor noise on surface normal vector reconstruction and conclude with observations about the impact of sunlight and reflexions

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Section: Related Workmentioning

confidence: 99%

Noise characterization of depth sensors for surface inspections

Pomerleau¹,

Breitenmoser²,

Liu³

et al. 2012

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)

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“…The benefit of a grid map is that it is easy to generate, applies quickly to the changing environment that surrounds an object, and provides good accessibility. However, the grids result in inaccuracies in the real environment, and the complexity of grid maps is high because all cells must hold an occupancy state [14,18]. Recently, there has been the paper on path planning using a grid-based potential field [19].…”

Section: Environment Mapmentioning

confidence: 99%

Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles

et al. 2020

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Environment maps must first be generated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and reflected when it meets a transparent obstacle, thus generating noise. Therefore, in this paper, a state-of-the-art algorithm was proposed to detect transparent obstacles by analyzing the pattern of the reflected noise generated when a laser meets a transparent obstacle. The experiment was carried out using the environment map generated by the aforementioned method and gave results demonstrating that the robot could avoid transparent obstacles while it was moving towards the destination.

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“…This robot is equipped with sensors that provide observations of different landmarks and its odometry. The observation of landmarks can be obtained with a laser scanner [11] that provides distance and angle obtained from different positions. Landmarks are features in an environment that can be used as reference and for the registration of multiple scans when combining different measurements from various positions.…”

Section: Simultaneous Localization and Mappingmentioning

confidence: 99%

“…They differ with respect to the type of movements and the involved degrees of freedom. The laser scanner position with mobile robots is fixed relative to the surface [11]. This cannot be guaranteed for pedestrians.…”

Section: A Indoor Navigationmentioning

confidence: 99%

Wearable Navigation System for the Visually Impaired and Blind People

Kaiser

Lawo

2012

2012 IEEE/ACIS 11th International Conference on Computer and Information Science

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A wearable navigation system for visually impaired and blind people in unknown indoor and outdoor environments is presented. This system will map and track the position of the pedestrian during the exploration of the unknown environment. In order to build this system the well known Simultaneous Localization and Mapping (SLAM) from mobile robotics will be implemented. Once a map is created the user can be guided efficiently by a route selecting method. The user will be equipped with a short range laser, an inertial measurement unit (IMU), a wearable computer for data processing and an audio bone headphones. This system does not intent to replace the use of the white cane. However, the purpose is to gather contextual information to aid the user in navigating with the white cane.

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Using LMS-100 laser rangefinder for indoor metric map building

Cited by 9 publications

References 15 publications

Noise characterization of depth sensors for surface inspections

Noise characterization of depth sensors for surface inspections

Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles

Wearable Navigation System for the Visually Impaired and Blind People

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